CN217494535U - Robot water jet device and water jet deburring equipment - Google Patents

Abstract

The utility model provides a water sword device of robot and water jet burring equipment, water sword device of robot includes the water sword robot, the execution end of water sword robot is provided with water tool bit and gas blow pipe, high pressure water channel has been seted up in the axle center of water tool bit, high pressure water channel's first end is linked together through high pressure water pipe and high pressure water feed system, the nozzle that is linked together with high pressure water channel is seted up to the periphery wall of water tool bit head backing high pressure water channel's second end, the gas blow hole has been seted up to the one end that the water sword robot was kept away from to the gas blow pipe. The utility model discloses robot water sword device gathers work piece burr and washs and get rid of and work piece surface water stain clean function in an organic whole, can thoroughly get rid of the work piece burr, and the processing quality is good, compact structure, and degree of automation is high, and production efficiency is high.

Description

Robot water jet device and water jet deburring equipment

Technical Field

The utility model belongs to the technical field of work piece burr removal equipment technique and specifically relates to a water jet burring equipment that water sword device of robot and this water sword device have is related to.

Background

Burrs generated in the manufacturing and processing process of each assembly workpiece of the product not only directly affect the precision and appearance quality of the part, but also affect the service life of the whole product, so that the burrs of the workpiece need to be removed, and particularly, the burrs of each assembly workpiece of electronic products with higher requirements on precision and appearance quality, such as mobile phones, computers and other products, need to be removed.

The existing water jet deburring equipment sprays high-pressure water outwards through a water cutter head of a water cutter device to clean and remove burrs of a workpiece. However, the existing water jet cutting device controls the movement of the water jet cutting head through the XYZ module and controls the water jet cutting head to rotate around one of the X axis, the Y axis and the Z axis through the rotation control mechanism, so that the freedom degrees of the movement and the rotation of the water jet cutting head are limited, burrs of intersecting lines of a hole, an inner cavity or other intersection positions of the hole of a workpiece cannot be completely removed, and the normal assembly and use of the workpiece are affected. In addition, the existing water jet cutter device only has a burr cleaning and removing function, and the subsequent water stain cleaning work on the surface of a workpiece is required after the burr cleaning and removing process is completed, so that the production efficiency is influenced.

Disclosure of Invention

The utility model aims at providing a gather work piece burr and wash get rid of and the clean function of workpiece surface water stain, can thoroughly get rid of the work piece burr, processing quality is good, compact structure, degree of automation are high and the high water sword device of robot of production efficiency.

A second object of the present invention is to provide a water jet deburring apparatus having the above robot water jet device.

In order to realize the utility model discloses a first purpose, the utility model provides a water sword device of robot, including the water sword robot, the execution end of water sword robot is provided with water tool bit and gas blow pipe, and high pressure water channel has been seted up in the axle center of water tool bit, and high pressure water channel's first end is linked together through high pressure water pipe and high pressure water feed system, and the nozzle that is linked together with high pressure water channel is seted up to the periphery wall of water tool bit head rest high pressure water channel's second end, and the gas blow hole has been seted up to the one end that the water sword robot was kept away from to the gas blow pipe.

By the above scheme, the utility model discloses robot water sword device's water sword robot can control the outside high pressure water that spouts of nozzle 311 of water sword head 31 and carry out automatic burr to the work piece and wash and get rid of, and water sword robot 3 can control the gas hole of gas blow pipe 32 towards accomplish on the work piece clamping device 5 burr wash get rid of the work piece and wash and get rid of the work piece to accomplishing the burr and blow and get rid of the work piece surface water stain, thereby the utility model discloses robot water sword device gathers work piece burr and washs and get rid of and the clean function of work piece surface water stain, can thoroughly get rid of the work piece burr, and the processing quality is good, compact structure, and degree of automation is high, and production efficiency is high.

Preferably, the execution end of the water-jet cutting robot is further provided with a feeding and discharging mechanism, the feeding and discharging mechanism comprises a first clamping jaw, a second clamping jaw and a clamping jaw control mechanism, and the clamping jaw control mechanism can control the first clamping jaw and the second clamping jaw to move towards or away from each other.

According to a further scheme, a first elastic rubber sleeve is sleeved at the clamping end of the first clamping jaw, a second elastic rubber sleeve is sleeved at the clamping end of the second clamping jaw, a first boss is arranged on the side, close to the second elastic rubber sleeve, of the first elastic rubber sleeve in a protruding mode, and a second boss is arranged on the side, close to the first elastic rubber sleeve, of the second elastic rubber sleeve in a protruding mode.

In a further scheme, a pressure transmitter is arranged at the position, close to the water cutter head, of the high-pressure water pipe.

The high-pressure water pipe is further provided with a pressure regulating valve and a high-pressure electromagnetic valve, and the high-pressure electromagnetic valve is positioned between the pressure regulating valve and the pressure transmitter.

It is further preferred that the axis of the nozzle is at an angle of between 30 ° and 60 ° to the axis of the high pressure water passage.

A further scheme is that a flexible waterproof raincoat is sleeved on a mechanical arm of the water jet robot, which is close to the water jet head.

Further scheme is, the water sword device of robot still includes installation cover and packing ring, the installation cover is installed and is served at the execution of water sword robot, the one end protrusion that the nozzle was kept away from to the water sword head is provided with the spliced pole, the periphery wall of spliced pole is provided with the external screw thread, high pressure water channel runs through the spliced pole setting, the installation cover runs through and has seted up water-passing channel, water-passing channel's first end is linked together with high pressure water pipe, water-passing channel's second end is linked together with high pressure water channel's first end, and the internal perisporium of water-passing channel's second end is provided with the internal screw thread, external screw thread and the mutual threaded connection of internal screw thread, the packing ring sets up on the spliced pole and is located between installation cover and the water sword head.

The utility model provides a further scheme is, robot water sword device still includes first mounting disc and second mounting disc, the ring groove has been seted up to the periphery wall of mounting sleeve, first mounting disc and second mounting disc are blocked respectively and are formed the ring dish in the ring groove, first mounting disc runs through in the footpath of ring groove and has seted up first mounting hole, the second mounting disc is seted up screw hole in the footpath of ring groove, first fastener passes first mounting hole and screw hole threaded connection in order to fasten first mounting disc and second mounting disc, first mounting disc runs through in the axial of ring groove and has seted up the second mounting hole, the second fastener passes the execution end of second mounting hole and water sword robot and is connected in order to fasten the execution end of first mounting disc and water sword robot, the second mounting disc runs through in the axial of ring groove and has seted up the third mounting hole, the third fastener passes the execution end of third mounting hole and water sword robot and is connected in order to fasten the execution end of second mounting disc and water sword robot.

In order to realize the utility model discloses a second purpose, the utility model provides a water jet burring equipment, including the water sword device of robot, the water sword device of robot is foretell water sword device of robot.

Drawings

Fig. 1 is a first view structural diagram of an embodiment of the water jet deburring apparatus of the present invention.

Fig. 2 is a second view structural diagram of the embodiment of the water jet deburring apparatus of the present invention.

Fig. 3 is a partial structural view of an embodiment of the water jet deburring apparatus of the present invention.

Fig. 4 is a partial structural view of a frame outer frame in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 5 is a cross-sectional view of a frame in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 6 is a structural diagram of the cooperation among the robot water jet device, the high-pressure water supply system, the pull-out filter system, the workpiece clamping device and the tool table assembly in the embodiment of the water jet deburring apparatus of the present invention.

Fig. 7 is a structural diagram of a tooling table assembly in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 8 is a partial structural view of an execution end of a water jet cutting robot in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 9 is a structural diagram of a water jet cutting robot according to an embodiment of the water jet deburring apparatus of the present invention.

Fig. 10 is a partially exploded view of the fit between the mounting sleeve, the washer, the water jet head, the first mounting plate and the second mounting plate in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 11 is a cross-sectional view of the mounting sleeve, the gasket, the water jet head, the first mounting plate and the second mounting plate in cooperation in the embodiment of the water jet deburring device of the present invention.

Fig. 12 is a structural diagram of the cooperation between the tooling plate, the clamping assembly and the elastic rubber plate in the embodiment of the water jet deburring device.

Fig. 13 is a structural view of a workpiece holding device in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 14 is a partially exploded view of a clamping assembly in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 15 is a cross-sectional view of a clamping assembly in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 16 is a structural view of a holding head in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 17 is a structural diagram of an elastic rubber head in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 18 is an exploded view of the fit between the tooling plate and the elastic rubber plate in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 19 is a structural view showing the cooperation between the high pressure water supply system and the pull-out type filtering system in the embodiment of the water jet deburring apparatus of the present invention.

Fig. 20 is a partial structure diagram of a first view of a high pressure water supply system in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 21 is a second view partial structure diagram of a high pressure water supply system in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 22 is a block diagram of a pull type filter system in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 23 is a sectional view showing the fitting between the water collecting table and the guide frame in the embodiment of the water jet deburring apparatus of the present invention.

Fig. 24 is a partial structural view of a pull type filter system in an embodiment of the water jet deburring apparatus of the present invention.

Fig. 25 is a partially exploded view of a pull-out filter system in an embodiment of the water jet deburring apparatus of the present invention.

The present invention will be further explained with reference to the drawings and examples.

Detailed Description

Referring to fig. 1 to 6, the embodiment discloses a water jet deburring device 1, which includes a rack outer frame 11, a robot water knife device, a high-pressure water supply system 4, a pressure sensor 7, a pull-out type filtering system 2, a workpiece clamping device 5, a tool table assembly 6, a protective fence 12 and an oil mist purifier 13, wherein the pull-out type filtering system 2 includes a water collecting table 21, the rack outer frame 11 covers the water collecting table 21, and the protective fence 12 is connected around the outer side of the rack outer frame 11 and forms a device mounting area with the rack outer frame 11. Wherein, this embodiment water sword device of robot includes water sword robot 3, and the installation end setting of water sword robot 3 is in the outside of frame 11 and be located the equipment fixing region territory to guarantee the work safe and reliable of water sword robot 3, and the execution end of water sword robot 3 passes the inside that dodges hole 115 and insert frame 11 that the trailing flank of frame 11 was seted up. In addition, in the present embodiment, the pressure sensor 7, the workpiece holding device 5, and the tool table assembly 6 are respectively disposed inside the rack outer frame 11, the oil mist purifier 13 is located at the top end of the rack outer frame 11 in the vertical direction and communicates with the inside of the rack outer frame 11, and the oil mist purifier 13 is configured to suck the oil mist inside the rack outer frame 11.

The open end of this embodiment platform 21 that catchments is provided with props the support 17, props and is provided with breakwater 16 on the support 17, and this breakwater 16 is frame 11 internal partitioning for burring work area and work piece placement area, and the execution end of this embodiment water sword robot 3, work piece clamping device 5, pressure sensor 7 are located burring work area respectively, and frock platform subassembly 6 is located the work piece placement area. The top end 161 of the water guard 16 is obliquely arranged from the deburring working area toward the workpiece placing area, so that the water guard 16 can effectively prevent the scraps from splashing to the workpiece placing area when the deburring working area is subjected to burr cleaning. Wherein, the gate 111 that is linked together with the work piece placing area is seted up to the leading flank of this embodiment frame 11, this gate 111 department is provided with first push-and-pull door 14 and second push-and-pull door 15, specifically, the inside wall of the leading flank of frame 11 is provided with spout 113 and lower spout 112, this last spout 113 is located the top of spout 112 down in vertical direction, spout 113 and lower spout 112 are gone up in first push-and-pull door 14 and the embedding of second push-and-pull door 15 slidable respectively, wherein return water tank 114 has been seted up to the tank bottom surface of spout 112 down, water stain oozes through return water tank 114 and retrieves in the water collection platform 21 of backward flow below, thereby can avoid water stain outflow equipment external contamination environment.

Referring to fig. 7, this embodiment tooling table assembly 6 includes workstation 61, a plurality of stopper 62 and inductor 63, this embodiment workstation 61 is installed on being located the work piece and placing regional support frame 17, a plurality of stopper 62 sets up on this workstation 61 and around forming the spacing region that is used for placing the material frame protruding workstation 61, thereby keep the uniformity that the material frame was placed on workstation 61, can ensure that the work piece of material frame carries out the uniformity of unloading, whether inductor 63 is used for responding to the workstation 61 and has placed the material frame simultaneously, thereby improve the job stabilization nature and the reliability of water jet burring equipment 1.

Referring to fig. 8 to 11, the execution end of the water jet robot 3 of this embodiment is provided with a water jet head 31, an air blowing pipe 32 and a loading and unloading mechanism, the axis of the water jet head 31 is provided with a high-pressure water channel 312, a first end of the high-pressure water channel 312 is communicated with the steel pipe 46 of the high-pressure water supply system 4 through a high-pressure water pipe 315, the outer peripheral wall of a second end of the water jet head 31 close to the high-pressure water channel 312 is provided with a nozzle 311 communicated with the high-pressure water channel 312, and one end of the air blowing pipe 32 away from the water jet robot 3 is provided with an air blowing hole, meanwhile, the loading and unloading mechanism comprises a first clamping jaw 36, a second clamping jaw 37 and a clamping jaw control mechanism 33, and the clamping jaw control mechanism 33 can control the first clamping jaw 36 and the second clamping jaw 37 to move towards or away from each other. The water jet deburring device 1 of the embodiment controls the feeding and discharging mechanism to move to a material frame of a workpiece placing area by the water jet robot 3, then the clamping jaw control mechanism 33 of the feeding and discharging mechanism controls the first clamping jaw 36 and the second clamping jaw 37 to move towards each other to clamp a workpiece to be deburred in the material frame, then the water jet robot 3 controls the feeding and discharging mechanism to move to the workpiece clamping device 5 of the deburring working area, then the clamping jaw control mechanism 33 of the feeding and discharging mechanism controls the first clamping jaw 36 and the second clamping jaw 37 to move away from each other to place the workpiece to be deburred on the workpiece clamping device 5 for clamping, then the water jet robot 3 controls the water jet head 31 to move to the workpiece clamping device 5 to be deburred, the water jet head 31 of the water jet robot 3 receives high-pressure water provided by the high-pressure water supply system 4, and the nozzle 311 of the water jet head 31 sprays high-pressure water outwards to clean the workpiece to deburred on the workpiece clamping device 5 And effective cleaning and removing are carried out. After the workpiece on the workpiece clamping device 5 finishes the burr cleaning and removing operation, the water jet cutter robot 3 controls the air blowing hole of the air blowing pipe 32 to face the finished burr cleaning and removing workpiece on the workpiece clamping device 5 and blows air to remove water stain on the surface of the workpiece after the finished burr cleaning and removing workpiece, meanwhile, the water jet cutter robot 3 controls the feeding and discharging mechanism to move to the position where the burr cleaning and removing workpiece is finished, the clamping jaw control mechanism 33 of the feeding and discharging mechanism controls the first clamping jaw 36 and the second clamping jaw 37 to move towards each other to clamp the finished burr cleaning and removing workpiece on the workpiece clamping device 5 and discharge the workpiece to a material frame of a workpiece placing area, and the operation of automatically cleaning and removing the burr is repeatedly circulated. In order to detect the water pressure of the high-pressure water sprayed outwards by the pipe-controlled water cutter head 31, the water jet robot 3 of the water jet deburring apparatus 1 of the present embodiment can periodically control the water cutter head 31 to spray the high-pressure water towards the pressure sensor 7 located in the deburring work area, so that the striking pressure of the nozzle 311 of the water cutter head 31 spraying the high-pressure water outwards can be periodically detected, the stability of the high-pressure water is further detected, and the stability and reliability of the operation of the water cutter head 31 are improved.

In order to avoid damage to the workpiece, the clamping end of the first clamping jaw 36 of the embodiment is sleeved with the first elastic rubber sleeve 34, the clamping end of the second clamping jaw 37 is sleeved with the second elastic rubber sleeve 35, the side surface of the first elastic rubber sleeve 34 close to the second elastic rubber sleeve 35 is convexly provided with the first boss 341, the side surface of the second elastic rubber sleeve 35 close to the first elastic rubber sleeve 34 is convexly provided with the second boss (not marked), and the arrangement of the first boss 341 and the second boss improves the clamping stability of the first elastic rubber sleeve 34 and the second elastic rubber sleeve 35 on the workpiece. In order to meet the burr cleaning and removing requirements of different products of customers, an included angle θ between the axis of the nozzle 311 and the axis of the high-pressure water channel 312 is 30 ° to 60 °, so that the included angles θ between the axis of the nozzle 311 and the axis of the high-pressure water channel 312 are 30 °, 45 °, 60 ° and the like according to different product requirements, so as to ensure the burr cleaning and removing effect. Specifically, the robot water jet scalpel device of the embodiment further comprises an installation sleeve 38, a gasket 314, a first installation disc 39 and a second installation disc 310, the installation sleeve 38 is installed at an execution end of the water jet scalpel robot 3, a connection column 313 is convexly arranged at one end, away from the nozzle 311, of the water jet scalpel head 31, an external thread is arranged on the outer peripheral wall of the connection column 313, the high-pressure water channel 312 penetrates through the connection column 313, a water passing channel 381 is formed in the installation sleeve 38 in a penetrating manner, a first end of the water passing channel 381 is communicated with the high-pressure water pipe 315, a second end of the water passing channel 381 is communicated with a first end of the high-pressure water channel 312, and the internal peripheral wall of the second end of the water channel 381 is provided with an internal thread, the external thread is in threaded connection with the internal thread, the gasket 314 is sleeved on the connecting column 313 and is positioned between the mounting sleeve 38 and the water cutter head 31, the water cutter head 31 is in threaded connection with the mounting sleeve 38 in the embodiment, and therefore the water cutter head 31 can be replaced conveniently and quickly. Wherein, the outer peripheral wall of this embodiment's mounting sleeve 38 has seted up ring groove 382, first mounting disc 39 and second mounting disc 310 are blocked in ring groove 382 respectively and are formed the ring dish, first mounting disc 39 has seted up first mounting hole 391 at the radial of ring groove 382 run through, second mounting disc 310 has seted up screw hole 3101 at the radial of ring groove 382, first fastener passes through first mounting hole 391 and screw hole 3101 threaded connection in order to fasten first mounting disc 39 and second mounting disc 310, first mounting disc 39 has seted up second mounting hole 392 at the axial of ring groove 382 run through, the second fastener passes through second mounting hole 392 and is connected with the execution end of water sword robot 3 in order to fasten first mounting disc 39 and the execution end of water sword robot 3, second mounting disc 310 has seted up third mounting hole 3102 at the axial of ring groove 382 run through, the third fastener passes through third mounting hole 3102 and is connected with the execution end of water sword robot 3 in order to fasten second mounting disc 310 and the execution end of water sword robot 3 Firm, easy dismounting is swift.

In order to prevent that water from spraying to the circuit of water sword robot 3 and causing the abnormal problem, the arm cover that this embodiment water sword robot 3 is close to water tool bit 31 is equipped with flexible waterproof raincoat (not mark), and flexible waterproof raincoat carries out water-proof protection to the arm that is located burring work area to improve water sword robot 3's operational reliability and stability. Specifically, the position of this embodiment high pressure water pipe 315 near water tool bit 31 is provided with pressure transmitter 316, and pressure transmitter 316 is used for detecting the water pressure before water tool bit 31 sprays, and pressure transmitter 316 sets for the value of floating, when water pressure exceeded the value scope of floating of setting for, then the warning suggestion prevents to appear the defective products in batches, can set for pressure transmitter 316's periodic detection frequency simultaneously to can detect hydraulic stability. In addition, the high pressure water pipe 315 of this embodiment is further provided with a pressure regulating valve (not shown) and a high pressure solenoid valve (not shown), the high pressure solenoid valve is located between the pressure regulating valve and the pressure transmitter 316, the pressure regulating valve can regulate the water pressure of the high pressure water pipe 315 according to the actual use requirement, and the high pressure solenoid valve is used for opening or closing the high pressure water pipe 315 to deliver high pressure water.

Referring to fig. 12 to 18, the workpiece holding device 5 of the present embodiment includes a support frame 51, a tooling plate 52, a turning driving mechanism 53, an air outlet pipe 54, and at least two holding assemblies, wherein the support frame 51 of the present embodiment is mounted on the support frame 17 located in the deburring working area, and the turning driving mechanism 53 is disposed on the support frame 51 and can control the tooling plate 52 to rotate around the horizontal direction. Wherein each clamping assembly comprises an air cylinder 55 and a clamping head 512, the air cylinder 55 is mounted on the tooling plate 52 and can control the clamping head 512 to move relative to the tooling plate 52, and a clamping area for placing a workpiece is formed on the tooling plate 52 between the plurality of clamping heads 512. The outlet pipe 54 is disposed on the support frame 51, and an outlet hole is opened at one end of the outlet pipe 54. In the water jet deburring apparatus 1 of the present embodiment, the water jet deburring device 3 is used to clean and remove the workpiece to be loaded onto the clamping area on the tooling plate 52 of the workpiece clamping device 5 by using the water jet robot 3, the workpiece clamping device 5 controls the clamping head 512 to move relative to the tooling plate 52 by using the cylinder 55 of the clamping component to clamp and fix the workpiece to be cleaned and removed by using the burr to be cleaned and removed, and the water jet head 31 of the water jet robot 3 sprays high pressure water outwards through the nozzle 311 to effectively clean and remove the burr of the workpiece to be cleaned and removed on the tooling plate 52. Meanwhile, in the process of cleaning and removing burrs of the workpiece by spraying high-pressure water outwards from the nozzle 311 of the water jet cutter head 31, the turnover driving mechanism 53 of the workpiece clamping device 5 can control the tooling plate 52 to rotate 180 degrees around the horizontal direction, so that burrs can be cleaned and removed from the front and the back of the workpiece, and the effect of cleaning and removing the burrs is better. After the workpiece on the tooling plate 52 is cleaned and removed, the water jet cutting robot 3 controls the air blowing hole of the air blowing pipe 32 to face the workpiece which is cleaned and removed by the burr on the workpiece clamping device 5 and blows air to remove the water stain on the surface of the workpiece, meanwhile, the water jet cutting robot 3 controls the loading and unloading mechanism to move to the position where the workpiece is cleaned and removed by the burr, the clamping jaw control mechanism 33 of the loading and unloading mechanism controls the first clamping jaw 36 and the second clamping jaw 37 to move towards each other to clamp the workpiece which is cleaned and removed by the burr on the tooling plate 52 and move to the air outlet of the air outlet pipe 54, the air outlet of the air outlet pipe 54 faces the workpiece which is clamped by the first clamping jaw 36 and the second clamping jaw 37 and is cleaned and removed by the burr so as to blow air to remove the water stain on the surface of the workpiece, and thereby improving the processing production quality of the workpiece.

In order to avoid damage to the workpiece, the elastic rubber head 56 is disposed on a side of each clamping head 512 away from the air cylinder 55. Wherein, first pilot hole 562 has been seted up to the one end of head 56 is glued to this embodiment elasticity, the top protrusion of holding head 512 is provided with first pilot column 5121, first pilot column 5121 imbeds in the first pilot hole 562, concretely, second pilot hole 563 that is linked together with first pilot hole 562 is seted up to the side of head 56 is glued to this embodiment elasticity, and first pilot hole 562 and second pilot hole 563 mutually perpendicular set up, first spacing groove 5122 has been seted up to the periphery wall of first pilot column 5121, screw 514 and second pilot hole 563 threaded connection, and the one end embedding of screw 514 is in first spacing groove 5122, thereby make head 56 is glued to elasticity can stabilize and install the one side of keeping away from cylinder 55 at holding head 512, thereby improve head 56's job stabilization nature and reliability are glued to elasticity. In addition, the elastic rubber head 56 is far away from the clamping head 512 and protrudes to be provided with a limiting eave 561, and the limiting eave 561 can be located at one end of the workpiece far away from the tooling plate 52, so that the workpiece is limited in the direction perpendicular to the tooling plate 52, and the clamping stability and reliability of the elastic rubber head 56 to the workpiece are improved.

In order to improve the accuracy of the workpiece feeding to the clamping area of the tooling plate 52, the workpiece clamping device 5 of the embodiment further includes a plurality of first limiting columns 59, and the plurality of first limiting columns 59 are disposed on the tooling plate 52 in a protruding manner and arranged around the periphery of the clamping area. Meanwhile, in order to improve that the workpiece can be stably held in the clamping area of the tooling plate 52, the tooling plate 52 of the embodiment is provided with the elastic rubber plate 510 located in the clamping area, the tooling plate 52 is provided with a plurality of third assembling holes 521, the first end face of the elastic rubber plate 510 adjacent to the tooling plate 52 is convexly provided with a plurality of second assembling columns 5101, one second assembling column 5101 is embedded into one third assembling hole 521, and the second end face of the elastic rubber plate 510 far away from the tooling plate 52 is convexly provided with a plurality of protrusions 5102, so that the friction force of the elastic rubber plate 510 to the workpiece is increased, and the workpiece can be stably held on the elastic rubber plate 510.

In order to ensure the stability and reliability of the movement operation of the clamping head 512, each clamping assembly of the embodiment further includes a limiting seat 58, the limiting seat 58 is installed on the tooling plate 52, and a second limiting groove 581 is formed in an end surface of the limiting seat 58 away from the tooling plate 52, the second limiting groove 581 penetrates through the limiting seat 58 in the movement direction of the clamping head 512, and the clamping head 512 is movably located in the second limiting groove 581. Specifically, each clamping assembly of this embodiment further includes a limiting plate 57 and a second limiting column 513, the limiting plate 57 is located at one end of the clamping head 512 far away from the tooling plate 52 and is installed on the limiting seat 58, the limiting plate 57 runs through and has been provided with a waist-shaped groove 571, the waist-shaped groove 571 extends in the moving direction of the clamping head 512, the first end of the second limiting column 513 is arranged on the clamping head 512, the second end of the second limiting column 513 is movably located in the waist-shaped groove 571, the waist-shaped groove 571 is used for limiting the moving stroke of the second limiting column 513, and then the moving stroke of the clamping head 512 is limited, and the stability and reliability of the moving work of the clamping head 512 are further improved. Here, the clamping area of the tooling plate 52 of the present embodiment is provided with a sensor 511, and the sensor 511 is used for detecting whether a workpiece is placed in the clamping area of the tooling plate 52.

Referring to fig. 19 to 21, the high pressure water supply system 4 of the present embodiment includes a clean water tank 41, a high pressure pump 43, a steel pipe 46, at least one angle seat valve 47, at least one pressure transmitter 316, and at least one high pressure water pipe 315, the clean water tank 41 and the high pressure pump 43 are respectively disposed outside the rack outer frame 11, a water inlet of the high pressure pump 43 is communicated with the clean water tank 41, a water inlet of the steel pipe 46 is communicated with a water outlet of the high pressure pump 43 through a water outlet pipe 414, a water outlet end of the steel pipe 46 is inserted into the rack outer frame 11, and a first end of the high pressure water channel 312 of the water knife head 31 is communicated with a water outlet end of the steel pipe 46 through the high pressure water pipe 315, that is, a water inlet of the high pressure water pipe 315 is communicated with the steel pipe 46. In this embodiment, one angle seat valve 47 is disposed on one high-pressure water pipe 315 and is disposed close to the steel pipe 46, and one pressure transmitter 316 is disposed on one high-pressure water pipe 315 and is located on a side of the angle seat valve 47 far away from the steel pipe 46, that is, the angle seat valve 47 is disposed close to the steel pipe 46 and is located on a side of the pressure regulating valve on the high-pressure water pipe 315 far away from the high-pressure solenoid valve. In addition, the high pressure water pipe 315 of this embodiment is a high pressure hose, and a low pressure transparent hose (not shown) is sleeved on the outer peripheral wall of the high pressure water pipe 315. The position that this embodiment water jet burring equipment 1 is close to steel pipe 46 at high-pressure water pipe 315 is provided with angle seat valve 47, thereby can avoid the water hammer phenomenon to produce, simultaneously this embodiment water jet burring equipment 1 is equipped with the transparent hose of low pressure at the periphery wall cover of high-pressure water pipe 315, when the ageing and work operation wearing and tearing of high-pressure water pipe 315 appear bursting, the transparent hose of low pressure of the periphery wall of cover-mounted high-pressure water pipe 315 can effectively prevent that water splash from causing equipment circuit short circuit, pollute abnormal problems such as operational environment appearance, guarantee water jet burring equipment 1's operational environment safety is clean, and ensure that the high-pressure water supplies reliable and stable.

In order to prolong the service life of the high-pressure pump 43, the high-pressure water supply system 4 of the present embodiment further includes a purified water suction pump 42, a water inlet of the purified water suction pump 42 is communicated with the purified water tank 41 through a water pipe, and a water outlet of the purified water suction pump 42 is communicated with a water inlet of the high-pressure pump 43 through a water pipe. In the embodiment, the high-pressure pump 43 is provided with the pressure regulating valve 410, the pressure regulating valve 410 is used for regulating the water pressure of the high-pressure pump 43, and the overflow port of the pressure regulating valve 410 is communicated with the purified water tank 41 through the first water return pipe 416, so that water resources can be recycled, the waste of resources is reduced, and the energy-saving and environment-friendly effects are achieved. In addition, the water outlet of the high-pressure pump 43 in this embodiment is communicated with the water outlet pipe 414 through a safety valve 49, the safety valve 49 performs a safety protection function on the high-pressure pump 43, and the overflow port of the safety valve 49 is communicated with the purified water tank 41 through a second water return pipe 417, so that water resources can be recycled, waste of resources is reduced, and the water-saving and environment-friendly effects are achieved. In addition, be provided with the level gauge (not marking) in this embodiment water purification tank 41, the level gauge is used for detecting the water level in water purification tank 41 and shows in real time, guarantees that the water level in water purification tank 41 is normal, and the signal lamp and the buzzer warning of level gauge when the monitoring is unusual, and the perisporium of water purification tank 41 runs through and has seted up the outlet, and outlet department is provided with first ball valve 415, according to the water level demand in water purification tank 41, can manually open the water of first ball valve 415 in to water purification tank 41 and discharge.

In order to monitor the operating state of the high-pressure pump 43 in real time, the high-pressure pump 43 of the present embodiment is provided with a pressure detection digital display meter 412 and a flow meter digital display meter 413, wherein the pressure detection digital display meter 412 is used for detecting and displaying the pressure of the high-pressure water of the high-pressure pump 43, and the flow meter digital display meter 413 is used for detecting and displaying the flow rate of the high-pressure water of the high-pressure pump 43. For the water quality condition in real-time supervision water purification case 41, still be provided with chloride ion + TDS monitoring configuration (not marked) and PH monitoring configuration (not marked) in this embodiment water purification case 41 for the quality of water in real-time supervision water purification case 41 avoids quality of water to be not conform to the demand and causes the harm to the work piece. In order to improve the stability and reliability of the steel pipe 46 for delivering high-pressure water, the steel pipe 46 of the present embodiment includes a vertical section 462 and a horizontal beam section 461, the water inlet of the high-pressure water pipe 315 is communicated with the horizontal beam section 461, and the vertical section 462 is provided with a second ball valve 48, and the second ball valve 48 is used for opening or closing the vertical section 462 of the steel pipe 46 for delivering high-pressure water. In order to improve the overall precision of the water jet deburring device 1, the high-pressure water supply system 4 of the embodiment further comprises a moving seat 44, the high-pressure pump 43 and the water purification suction pump 42 are respectively installed on the moving seat 44, the bottom of the moving seat 44 is provided with a plurality of first horseshoe wheels 45, and the bottom of the water purification tank 41 is provided with a plurality of second horseshoe wheels 411, so that the vibration generated by the work of the high-pressure pump 43 and the water purification suction pump 42 can not be transmitted to the workpiece clamping device 5 and the robot water knife device, thereby improving the work precision of the workpiece clamping device 5 and the robot water knife device, and further improving the overall precision of the water jet deburring device 1.

Referring to fig. 22 to 25, the pull-out type filtering system 2 of the present embodiment includes a water collecting platform 21, a water filtering tank 23, a first filtering net 213, a first filtering tower 26 and a sewage suction pump 25, the frame outer frame 11 covers the water collecting platform 21, the water collecting platform 21 is located above the water filtering tank 23 in the vertical direction, and the water outlet 211 is formed in the water collecting platform 21. Wherein, be provided with baffle 231 in the water filter tank 23 of this embodiment, baffle 231 separates water filter tank 23 for first filtered water chamber 232 and second filtered water chamber (not marked) in vertical direction, and baffle 231 runs through and has seted up a plurality of first through-holes 2311, and outlet 211 is linked together with first filtered water chamber 232. Meanwhile, a first through groove 2312 is formed in the peripheral wall of the water filtering tank 23 in the embodiment, the first through groove 2312 is located below the partition 231 in the vertical direction and is communicated with the second water filtering cavity, the first filter screen 213 can be inserted into the second water filtering cavity through the first through groove 2312 in a sliding manner so as to separate the second water filtering cavity into a third water filtering cavity (not marked) and a fourth water filtering cavity (not marked), a first baffle 2131 is arranged on one side of the first filter screen 213, and the first baffle 2131 can abut against the peripheral wall of the water filtering tank 23. In addition, in this embodiment, the water inlet of the sewage suction pump 25 is communicated with the fourth filtered water chamber through a water pipe, the water outlet of the sewage suction pump 25 is communicated with the water inlet of the first filtering tower 26 through a water pipe, and the water outlet of the first filtering tower 26 is communicated with the clean water tank 41 through a water pipe.

Further, this embodiment pull formula filtration system 2 still includes the second filter screen (not mark), the periphery wall of drainage case 23 has been seted up the second and has been led to the groove (not mark), the second leads to the groove and is located the below of first logical groove 2312 and is linked together with the fourth drainage chamber on vertical direction, the second filter screen can pass through the second and lead to the groove and insert the fourth drainage intracavity in order to separate the fourth drainage chamber for fifth drainage chamber (not mark) and sixth drainage chamber (not mark), and one side of second filter screen is provided with second baffle 2141, but second baffle 2141 butt is on the periphery wall of drainage case 23, the water inlet of sewage suction pump 25 leads to pipe and sixth drainage chamber is linked together.

Furthermore, the pull-out type filtering system 2 of this embodiment further includes a water storage tank 24 and a third filter screen 215, the third filter screen 215 is detachably covered on the opening end of the water storage tank 24, the third filter screen 215 and the inner cavity of the water storage tank 24 form a seventh filter chamber 241, the water inlet of the sewage suction pump 25 is communicated with the seventh filter chamber 241 through a water pipe, the water filter tank 23 is placed on the third filter screen 215 in the vertical direction, and a plurality of second through holes (not labeled) communicated with the sixth filter chamber are formed through the bottom end surface of the water filter tank 23 close to the third filter screen 215. Specifically, be provided with liquid level monitor (not marking) in the seventh drainage chamber 241 of this embodiment, liquid level monitor is used for detecting the water level and the real-time display in the seventh drainage chamber 241, and the water level in the seventh drainage chamber 241 is guaranteed normal, and liquid level monitor's signal lamp and buzzer warning when the monitoring is unusual, and seventh drainage chamber 241 is external to have the moisturizing pipeline, and the position that the moisturizing pipeline is close to seventh drainage chamber 241 sets up moisturizing flow switch 29, can carry out the moisturizing to seventh drainage chamber 241.

Furthermore, the pull-out filtration system 2 of the present embodiment further includes a second filtration tower 27 and a third filtration tower 28, the water inlet of the second filtration tower 27 is communicated with the water outlet of the first filtration tower 26 through a water pipe, the water inlet of the third filtration tower 28 is communicated with the water outlet of the second filtration tower 27 through a water pipe, and the water outlet of the third filtration tower 28 is communicated with the purified water tank 41 through a water pipe. Specifically, the return port of the first filtering tower 26, the return port of the second filtering tower 27 and the return port of the third filtering tower 28 are respectively communicated with the return pipe 281, and the return pipe 281 is communicated with the seventh filtering water cavity 241, so that water resources can be recycled, resource waste is reduced, and the water-saving and environment-friendly effects are achieved.

In order to improve the convenience and rapidity of the first filter screen 213, the second filter screen, and the third filter screen 215, a first handle 2132 is disposed on the outer side surface of the first baffle 2131 far away from the first filter screen 213, a second handle 2142 is disposed on the outer side surface of the second baffle 2141 far away from the second filter screen, and a third handle 2151 is disposed on the outer side surface of the third filter screen 215 far away from the seventh filter cavity 241. In order to ensure that the wastewater in the water collecting table 21 can be smoothly guided to the water filtering tank 23, the bottom surface 212 of the water collecting table 21 is inclined toward the water draining opening 211, the pull-out filtering system 2 further includes a guiding frame 22, the guiding frame 22 is vertically located between the water collecting table 21 and the water filtering tank 23, the water draining opening 211 is communicated with the first end of the guiding frame 22, the second end of the guiding frame 22 is communicated with the first water filtering cavity 232, and the guiding surface 221 of the guiding frame 22 is inclined from the first end of the guiding frame 22 to the second end of the guiding frame 22.

In the process of cleaning and removing burrs of a workpiece by the water jet deburring equipment 1, the water jet robot 3 can control the feeding and discharging mechanism to automatically feed and discharge the workpiece between a deburring working area and a workpiece placing area, the water jet robot 3 can control the nozzle 311 of the water jet head 31 to spray high-pressure water outwards to automatically clean and remove the burrs of the workpiece in the deburring working area, the water jet robot 3 can control the air blowing hole of the air blowing pipe 32 to face the workpiece which is cleaned and removed by the burrs on the workpiece clamping device 5 and blow the workpiece which is cleaned and removed by the burrs to remove water stains on the surface of the workpiece, meanwhile, the workpiece clamping device 5 controls the clamping head 512 to move relative to the tooling plate 52 by using the air cylinder 55 of the clamping assembly to clamp and fix the workpiece which is cleaned and removed by the burrs, and the turnover driving mechanism 53 of the workpiece clamping device 5 can control the tooling plate 52 to rotate 180 degrees around the horizontal direction, make the front and the back of work piece can both carry out the burr and wash and get rid of, thereby the burr washs and gets rid of the effect better, simultaneously the last unloading mechanism of water jet cutter robot 3 control is washed to the accomplished burr on frock board 52 and is got rid of the work piece and carry out the centre gripping and remove to the exit hole department of the outlet duct 54 of work piece clamping device 5, the exit hole of outlet duct 54 is washed towards the accomplished burr of first clamping jaw 36 and the centre gripping of second clamping jaw 37 and is got rid of the work piece and blow and get rid of work piece surface water stain, work piece processing quality is good. Moreover, the water jet deburring device 1 of the embodiment has the advantages of high automation degree, compact structure, wide processing range, high production efficiency and capability of being suitable for cleaning and removing burrs of workpieces such as plastic, metal, alloy and the like, thereby saving the production cost.

In the process of cleaning and removing burrs of a workpiece, the oil mist purifier 13 synchronously absorbs the oil mist inside the frame outer frame 11, and collects and purifies environment pollutants such as oil mist, water mist and dust generated in the operation of cleaning and removing the burrs, so that the production and processing environment is purified, and the health of operators is protected. Synchronously, the waste water after the cleaning and removing of the burrs is collected in the water collection platform 21 together with the burrs and is discharged into the guide frame 22 through the water discharge port 211 of the water collection platform 21, the waste water is guided into the first water filtering cavity 232 of the water filtering tank 23 through the guide frame 22, part of the burrs are blocked and filtered in the first water filtering cavity 232, part of the burrs are driven by the waste water to flow into the third water filtering cavity through the first through hole 2311 of the partition plate 231, then part of the burrs are blocked and filtered by the first filter screen 213, the second filter screen, the second through hole on the bottom end surface of the water filtering tank 23 and the third filter screen 215, then the waste water is driven into the seventh water filtering cavity 241 through the waste water after being coarsely filtered by the multiple layers of filter screens, the first through hole 2311 and the second through hole, and the like impurities are only few burrs and the like, then the sewage water suction pump 25 pumps the coarsely filtered waste water in the seventh water filtering cavity 241 to the first filter tower 26 for fine filtering, then secondary fine filtration is carried out through the second filter tower 27, tertiary fine filtration is carried out through the third filter tower 28, and the wastewater after the tertiary fine filtration is conveyed into the purified water tank 41 to be supplied to the water cutter head 31, so that the water resource is recycled, the resource waste is reduced, and the energy-saving and environment-friendly effects are achieved.

When the workpiece in the material frame on the tool table assembly 6 is completely cleaned and removed, the worker pushes the first sliding door 14 or the second sliding door 15 to open the door 111 of the frame outer frame 11, then the material frame on the tool table assembly 6 is taken down, then the material to be cleaned and removed is placed on the tool table assembly 6, then the first sliding door 14 or the second sliding door 15 is pushed to close the door 111 of the frame outer frame 11, so that the sealing performance of the frame outer frame 11 is improved, the working reliability of the working device in the frame outer frame 11 is improved, and the working safety of the water jet deburring device 1 is improved.

Above embodiment is the preferred example of the utility model, and not the restriction the utility model discloses the range of implementing, the event all according to the utility model discloses the equivalent change or the decoration that structure, characteristic and principle were done of application for patent scope all should be included in the utility model discloses the patent application scope.

Claims (10)

1. Robot water sword device, including water sword robot, the execution end of water sword robot is provided with the water knife head, high pressure water channel has been seted up in the axle center of water knife head, high pressure water channel's first end is linked together through high pressure water pipe and high pressure water feed system, water knife head rest piece the periphery wall of high pressure water channel's second end seted up with the nozzle that high pressure water channel is linked together, its characterized in that:

the water jet cutting robot is characterized in that an air blowing pipe is further arranged at the execution end of the water jet cutting robot, and an air blowing hole is formed in one end, far away from the water jet cutting robot, of the air blowing pipe.

2. The robotic water jet device of claim 1, wherein:

the execution end of water sword robot still sets up unloading mechanism on, unloading mechanism includes first clamping jaw, second clamping jaw and clamping jaw control mechanism on, clamping jaw control mechanism is steerable first clamping jaw with the second clamping jaw orientation perhaps is kept away from each other and is removed.

3. The robotic water jet device of claim 2, wherein:

the clamping end cover of first clamping jaw has cup jointed first elasticity gum cover, the clamping end cover of second clamping jaw has cup jointed second elasticity gum cover, just first elasticity gum cover is close to the side protrusion of second elasticity gum cover is provided with first boss, second elasticity gum cover is close to the side protrusion of first elasticity gum cover is provided with the second boss.

4. The robotic water jet device of claim 1, wherein:

and a pressure transmitter is arranged at the position of the high-pressure water pipe close to the water cutter head.

5. The robotic water jet device of claim 4, wherein:

the high-pressure water pipe is further provided with a pressure regulating valve and a high-pressure electromagnetic valve, and the high-pressure electromagnetic valve is located between the pressure regulating valve and the pressure transmitter.

6. The robotic water jet device of claim 1, wherein:

the included angle between the axis of the nozzle and the axis of the high-pressure water channel is 30-60 degrees.

7. The robotic water jet device of claim 1, wherein:

the water jet cutting robot is close to a mechanical arm sleeve of the water jet cutting head is provided with a flexible waterproof raincoat.

8. The robotic water knife device of any of claims 1 to 7, wherein:

the robot water jet scalpel device further comprises a mounting sleeve and a gasket, the mounting sleeve is mounted on an execution end of the water jet scalpel robot, a connecting column is convexly arranged at one end, away from the nozzle, of the water jet scalpel head, external threads are arranged on the outer peripheral wall of the connecting column, and the high-pressure water channel penetrates through the connecting column;

the mounting sleeve is provided with a water passing channel in a penetrating manner, the first end of the water passing channel is communicated with the high-pressure water pipe, the second end of the water passing channel is communicated with the first end of the high-pressure water channel, and the inner peripheral wall of the second end of the water passing channel is provided with internal threads;

the external thread with the mutual threaded connection of internal thread, the packing ring cover is established on the spliced pole and be located the installation cover with between the water tool bit.

9. The robotic water jet device of claim 8, wherein:

the robot water jet scalpel device further comprises a first mounting disc and a second mounting disc, wherein an annular groove is formed in the outer peripheral wall of the mounting sleeve, and the first mounting disc and the second mounting disc are respectively clamped into the annular groove to form an annular disc;

the first mounting disc is provided with a first mounting hole in a penetrating manner in the radial direction of the circular groove, the second mounting disc is provided with a threaded hole in the radial direction of the circular groove, and a first fastener penetrates through the first mounting hole and is in threaded connection with the threaded hole so as to fasten the first mounting disc and the second mounting disc;

a second mounting hole penetrates through the first mounting disc in the axial direction of the annular groove, and a second fastener penetrates through the second mounting hole to be connected with the execution end of the water jet cutting robot so as to fasten the first mounting disc and the execution end of the water jet cutting robot;

the second mounting disc is in the axial of ring groove is run through and has been seted up the third mounting hole, and the third fastener passes the third mounting hole with the execution end of water jet cutting machine people is connected in order with the second mounting disc with the execution end fastening of water jet cutting machine people.

10. Water jet burring equipment, including the water sword device of robot, its characterized in that:

the robotic water jet scalpel device as defined in any one of claims 1 to 9.

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